System and method for estrus detection using real-time location

ABSTRACT

In certain embodiments, a method for estrus detection includes storing location information associated with a dairy livestock. The stored location information includes a coordinate location of the dairy livestock within a free stall pen at each of a plurality of times during a time period. The method further includes determining, based on at least a portion of the stored location information, one or more movement parameters associated with the dairy livestock. The method further includes determining, based on one or more movement parameters associated with the dairy livestock, whether the dairy livestock is likely to be in estrus.

TECHNICAL FIELD

This invention relates generally to dairy farming and more particularlyto a system and method for estrus detection using real-time location.

BACKGROUND OF THE INVENTION

For modern dairy milking operations to remain profitable, it may beimportant to maximize the efficiency of a herd of dairy livestock. Inorder to maximize efficiency of a herd of dairy livestock, it may bebeneficial to ensure that the livestock remain healthy and have a highreproductive efficiency. Accordingly, health monitoring and estrusdetection for a herd of dairy livestock may be integral components ofmodern dairy milking operations. Current systems and methods supportinghealth monitoring and estrus detection, however, have proven inadequatein various respects.

SUMMARY OF THE INVENTION

According to embodiments of the present disclosure, disadvantages andproblems associated with previous systems and methods for estrusdetection may be reduced or eliminated.

In certain embodiments, a method for estrus detection includes storinglocation information associated with a dairy livestock. The storedlocation information includes a coordinate location of the dairylivestock within a free stall pen at each of a plurality of times duringa time period. The method further includes determining, based on atleast a portion of the stored location information, one or more movementparameters associated with the dairy livestock. The method furtherincludes determining, based on one or more movement parametersassociated with the dairy livestock, whether the dairy livestock islikely to be in estrus.

Particular embodiments of the present disclosure may provide one or moretechnical advantages. For example, certain embodiments of the presentdisclosure may increase the reproductive efficiency for a herd of dairylivestock by facilitating an automated determination regarding whethereach of the dairy livestock is in estrus based on the movement of thedairy livestock within a free stall pen. Moreover, a high reproductiveefficiency within a herd of dairy livestock may increase the overallmilk output for that herd over a period of time. As a result, certainembodiments of the present disclosure may facilitate an increase in theoverall milk output for a herd of dairy livestock.

Certain embodiments of the present disclosure may include some, all, ornone of the above advantages. One or more other technical advantages maybe readily apparent to those skilled in the art from the figures,descriptions, and claims included herein.

BRIEF DESCRIPTION OF THE DRAWINGS

To provide a more complete understanding of the present invention andthe features and advantages thereof, reference is made to the followingdescription taken in conjunction with the accompanying drawings, inwhich:

FIG. 1 illustrates a logical view of an example system for estrusdetection and health monitoring using real-time location, according tocertain embodiments of the present disclosure; and

FIG. 2 illustrates an example method for estrus detection usingreal-time location, according to certain embodiments of the presentdisclosure; and

FIG. 3 illustrates an example method for health monitoring usingreal-time location, according to certain embodiments of the presentdisclosure.

DETAILED DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a logical view of an example system 100 for estrusdetection and health monitoring using real-time location, according tocertain embodiments of the present disclosure. System 100 includes afree stall pen 102 housing a number of dairy livestock 104. Free stallpen 102 may be configured to include a number of stalls 106, walkinglanes 108, and water troughs 110, and may be positioned adjacent to afeed lane 112. System 100 further includes a number of identificationdevices 114 positioned throughout free stall pen 102, eachidentification device 114 being configured to (1) read tags affixed toeach of the dairy livestock 104, and (2) communicate with a controller116. Although this particular implementation of system 100 isillustrated and primarily described, the present disclosure contemplatesany suitable implementation of system 100 according to particular needs.Additionally, although the present disclosure contemplates free stallpen 102 housing any suitable dairy livestock 104 (e.g., cows, goats,sheep, water buffalo, etc.), the remainder of this description isdetailed with respect to dairy cows.

Free stall pen 102 may include any suitable number of walls dividingfree stall pen 102 into a number of stalls 106 and a number walkinglanes 108. The walls of free stall pen 102 may be constructed of anysuitable materials arranged in any suitable configuration operable tomanage the movement of dairy cows 104. For example, the walls of freestall pen 102 may each include any number and combination of posts,rails, tubing, rods, connectors, cables, wires, and/or beams operable toform a substantially planar barricade such as a fence, wall, and/orother appropriate structure suitable to manage the movement of dairycows 104. Free stall pen 102 may additionally include a number of watertroughs 110 each positioned at any suitable location within free stallpen 102 such that dairy cows 104 may access drinking water.

Free stall pen 102 may be positioned adjacent to a feed lane 112. Feedlane 112 may be configured to permit a vehicle to pass through feed lane112 and distribute feed for dairy cows 104 located in free stall pen102. For example, feed lane 112 may be separated from free stall pen 102by a wall comprising a number of slots sized such that dairy cows 104may extend their heads into feed lane 112 and eat feed distributed infeed lane 112.

A number of identification devices 114 may be positioned at variouslocations within and/or adjacent to free stall pen 102. Although aparticular number of identification devices 114 are illustrated as beingpositioned at particular locations within free stall pen 102, thepresent disclosure contemplates any suitable number of identificationdevices 114 located at any suitable positions within and/or adjacent tofree stall pen 102, according to particular needs.

Identification devices 114 may each include any suitable device operableto receive a signal from a tag affixed to a dairy cow 104 (e.g., an eartag) located in free stall pen 102. In response to a signal receivedfrom a tag affixed to a dairy cow 104, identification devices 114 maygenerate a signal corresponding to that tag for communication tocontroller 116 (described below). Communication between identificationdevices 114 and tags affixed to dairy cows 104 may be facilitated by anysuitable technology, including, for example, passive radio-frequencyidentification (RFID), active RFID, Wi-Fi, Bluetooth, ultra-wide band(UWB), ZigBee, acoustic locating, and computer vision. In certainembodiments, a generated signal corresponding to a tag affixed to adairy cow 104 may include (1) an identification number related to thedairy cow 104, (2) the distance, angle, and/or other informationconcerning the location of the dairy cow 104 relative to theidentification device 114 generating the signal, (3) an identificationof the identification device 114 generating the signal, and/or (4) atimestamp.

Identification devices 114 may be communicatively coupled (e.g., via anetwork facilitating wireless or wireline communication) to controller116. Controller 116 may include one or more computer systems at one ormore locations. Each computer system may include any appropriate inputdevices (such as a keypad, touch screen, mouse, or other device that canaccept information), output devices, mass storage media, or othersuitable components for receiving, processing, storing, andcommunicating data. Both the input devices and output devices mayinclude fixed or removable storage media such as a magnetic computerdisk, CD-ROM, or other suitable media to both receive input from andprovide output to a user. Each computer system may include a personalcomputer, workstation, network computer, kiosk, wireless data port,personal data assistant (PDA), one or more processors within these orother devices, or any other suitable processing device. In short,controller 116 may include any suitable combination of software,firmware, and hardware.

Controller 116 may additionally include one or more processing modules118 and one or more memory modules 120 (each referred to in the singularthroughout the remainder of this description). Processing module 118 mayinclude one or more microprocessors, controllers, or any other suitablecomputing devices or resources and may work, either alone or with othercomponents of system 100, to provide a portion or all of thefunctionality of system 100 described herein. Memory module 120 may takethe form of volatile or non-volatile memory including, withoutlimitation, magnetic media, optical media, random access memory (RAM),read-only memory (ROM), removable media, or any other suitable memorycomponent.

Controller 116 may additionally include real-time location (RTL) logic122, estrus detection logic 124, and health monitoring logic 126 (e.g.,each stored memory module 120). RTL logic 122 (which, in combinationwith identification devices 114 and the plurality of tags affixed to theplurality of dairy cows 104, may be referred to as a real-time locationsystem (RTLS)) may include any information, logic, and/or instructionsstored and/or executed by controller 116 to determine locationinformation 128 associated with dairy cows 104 in free stall pen 102based on signals received from identification devices 114 (as describedin further detail below). Estrus detection logic 124 may include anyinformation, logic, and/or instructions stored and/or executed bycontroller 116 to determine, based on the location information 128associated with a particular dairy cow 104 generated by RTL logic 122,whether the particular dairy cow 104 is likely to be in estrus (asdescribed in further detail below). Health monitoring logic 126 mayinclude any information, logic, and/or instructions stored and/orexecuted by controller 116 to determine, based on the locationinformation 128 associated with a particular dairy cow 104 generated byRTL logic 122, whether the particular dairy cow 104 is likely unhealthy(as described in further detail below). Although certain functionalityis described below as being associated with RTL logic 122, estrusdetection logic 124, or health monitoring logic 126, the presentdisclosure contemplates the functionality described below as beingcombined or divided among any suitable logic, according to particularneeds.

Controller 116 may be operable to receive signals generated byidentification devices 114. In certain embodiments, controller 116 mayreceive signals corresponding to each dairy cow 104 in free stall pen102 from each identification device 114. Furthermore, for a particulardairy cow 104, controller 116 may receive signals from eachidentification device 114 at or about the same time and at regularintervals (e.g., every fifteen seconds). For example, for a particulardairy cow 104 at a particular time, controller 116 may receive signalsgenerated by a number of identification devices 114 (e.g., each signalidentifying the particular dairy cow 104 and the distance the particulardairy cow 104 is located from the corresponding identification device114). Based on the received signals, controller 116 may determinelocation information 128 associated with the particular dairy cow 104 atthe particular time (e.g., using RTL logic 122, as described below).

In certain embodiments, RTL logic 122 may be operable to process signalsreceived from identification devices 114 in order to determine locationinformation 128 associated with dairy cows 104 in free stall pen 102. Asdescribed above, a particular subset of the received signals may begenerated by the identification devices 114 at approximately the sametime and may identify the same particular dairy cow 104. Each of thesignals of the particular subset may additionally include informationabout the position of the particular dairy cow 104 relative to thecorresponding identification device 114 (e.g., distance, angle, etc.).Based on one or more of the subset of received signals, RTL logic 122may determine a coordinate location of the particular dairy cow 104within free stall pen 102. In certain embodiments, the determinedcoordinate location may be an (X,Y) location within the free stall pen102. In certain other embodiments, the determined coordinate locationmay be an (X,Y,Z) location within the free stall pen 102.

As just one example, RTL logic 122 may determine a coordinate locationof the particular dairy cow 104 within free stall pen 102 usingtriangulation (based on at least three of the subset of receivedsignals). Because each of the at least three signals may includeinformation about the position of the particular dairy cow 104 (e.g.,distance and/or angle) relative to the corresponding identificationdevice 114 and the location of each corresponding identification device114 within free stall pen 102 may be known, the coordinate location(e.g., an (X,Y) location, an (X,Y,Z) location, or any other suitablecoordinate location) of the particular dairy cow 104 within free stallpen 102 may be determined.

Furthermore, because controller 116 may receive signals fromidentification devices 114 for each dairy cow 104 on a periodic basis(e.g., every fifteen seconds), location information 128 may be generatedfor each dairy cow 104 in free stall pen 102 at each of a number oftimes during a particular time period (e.g., every fifteen seconds overa one hour period). The generated location information 128 associatedwith each dairy cow 104 may then be stored (e.g., in memory module 120or any other suitable location in system 100) such that the locationinformation 128 may be later accessed (e.g., by estrus detection logic124 and health monitoring logic 126, as described in further detailbelow).

In certain embodiments, estrus detection logic 124 may be operable toaccess location information 128 associated with each dairy cow 104 infree stall pen 102 and determine, based on at least a portion of thatlocation information 128, one or more movement parameters 130 associatedwith each dairy cow 104. The determined movement parameters 130 fordairy cows 104 may be stored (e.g., in memory module 120) such thatchanges in the movement parameters 130 may be assessed over time.Because the movement of a dairy cow 104 within free stall pen 102 (asreflected by the movement parameters 130, which are described in detailbelow) may be indicative of whether the dairy cow 104 is in estrus, themovement parameters 130 may be used by estrus detection logic 124 todetermine whether the dairy cow 104 is likely to be in estrus (asdescribed below).

In certain embodiments, the movement parameters 130 for a particulardairy cow 104 may include a percentage of a particular time period(e.g., one hour) the particular dairy cow 104 spent in each of a numberof areas of free stall pen 102. For example, the movement parameters 130may include (1) a percentage of time the particular dairy cow 104 spentstanding in a stall 106 of free stall pen 102 (stall standing parameter134), (2) a percentage of time the particular dairy cow 104 spent lyingin a stall 106 of free stall pen 102 (stall lying parameter 136), (3) apercentage of time the particular dairy cow 104 spent walking in awalking alley 108 of free stall pen 102 (alley walking parameter 138),(4) a percentage of time the particular dairy cow 104 spent lying in awalking alley 108 of free stall pen 102 (alley lying parameter 140), (5)a percentage of time the particular dairy cow 104 spent standing in awalking alley 108 of free stall pen 102 (alley standing parameter 142)(6) a percentage of time the particular dairy cow 104 spent near a watertrough 110 (watering parameter 144), and/or (7) a percentage of time theparticular dairy cow 104 spent near feed lane 112 (feeding parameter146).

The above-described movement parameters 130 for a particular dairy cow104 may be determined by comparing the location information 128 for theparticular dairy cow 104 collected during a particular time period(including a number of coordinate locations for the particular dairy cow104 at a number of discrete times during the particular time period, asdescribed above) with layout information 132 for free stall pen 102(e.g., stored in memory module 120). In certain embodiments, layoutinformation 132 for free stall pen 102 may include coordinate locationsdefining the corners of each stall 106 (and thus defining the areawithin each stall 106), coordinate locations defining the corners ofeach walking lane 108 (and thus defining the area within each walkinglane 108), coordinate locations defining the corners of the area aroundeach water trough 110 (and thus defining a watering area), and thecorners of the area near feed lane 112 (and thus defining a feedingarea). For each coordinate location for the particular dairy cow 104within these defined areas, the area in which the particular dairy cow104 is located at each discrete time during the time period may bedetermined.

For example, location information 128 for a particular dairy cow 104 mayinclude coordinate locations of the particular dairy cow 104 at discretetimes (e.g., every fifteen seconds) during a particular time period(e.g., one hour). By comparing each (X,Y) coordinate location of theparticular dairy cow 104 with layout information 132 for free stall pen102, the position of the particular dairy cow 104 within free stall pen102 may be determined at each discrete time during the time period.Moreover, if it is assumed that the position of the particular dairy cow104 remains constant from one discrete time to the next (e.g., for thefifteen second time period until a new coordinate location for theparticular dairy cow 104 is available), a percentage of the particulartime period that the particular dairy cow 104 spent in various locationswithin the free stall pen 102 may be determined. Furthermore, inembodiments in which the coordinate location for the particular dairycow 104 includes a (Z) location, a percentage of the particular timeperiod that the particular dairy cow 104 spent standing versus lying ateach location may additionally be determined (as a (Z) location for theparticular dairy cow 104 in both a standing and lying position may beknown). From this information, the above-described movement parameters130 (e.g., a stall standing parameter 134, a stall lying parameter 136,an alley walking parameter 138, an alley lying parameter 140, an alleystanding parameter 142, a watering parameter 144, and a feedingparameter 146) may be determined.

In certain embodiments, the movement parameters 130 for a particulardairy cow 104 may additionally include a watering count 148 and afeeding count 150. The watering count 148 may correspond to the numberof times during a time period that the particular dairy cow 104 moveswithin a predetermined distance (e.g., five feet) of a water trough 110.Similarly, the feeding count 150 may correspond to the number of timesduring a time period that the particular dairy cow 104 moves within apredetermined distance (e.g., five feet) of feed lane 112. Additionally,in embodiments in which location information 128 includes a (Z)coordinate location, movement parameters 130 for a particular dairy cow104 may additionally include a mounting count 152. The mounting count152 may correspond to the number of times during a particular timeperiod that the (Z) coordinate location of the particular dairy cow 104increasing above a particular threshold (indicating that the particulardairy cow 104 has mounted another dairy cow 104).

In certain embodiments, the movement parameters 130 for a particulardairy cow 104 may additionally include a mobility count 154. Themobility count 154 may correspond to the number of times during a timeperiod that the particular dairy cow 104 moves more than a predetermineddistance (e.g., five feet) between consecutive discrete times for whicha coordinate location is available for the particular dairy cow 104(e.g., during the fifteen second interval between times thatidentification devices 114 generate signals corresponding to theparticular dairy cow 104). As just one example, in embodiments in whichthe location information 128 for the particular dairy cow 104 includes(X,Y) location for the particular dairy cow 104 at a number of discretetimes (t), the mobility count 154 may be determined as follows:

If[X(t+1)−X(t)]>5 feetor[Y(t+1)−Y(t)]>5 feet

then increase mobility count by 1

In certain embodiments, the mobility count 154 may be normalized todetermine a mobility count per hour by dividing the determined mobilitycount 154 by the number of hours in the time period during which themobility count 154 was determined.

In certain embodiments, the movement parameters 130 for a particulardairy cow 104 may additionally include a distance traveled 156 by theparticular dairy cow 104 during a time period. As just one example, inembodiments in which the location information 128 for the particulardairy cow 104 includes (X,Y) location for the particular dairy cow 104at a number of discrete times (t), the distance traveled 156 by theparticular dairy cow 104 may be determined as follows:

${{Dist}.{Trav}.} = {\sum\limits_{t = 1}^{n}\;\sqrt{\left( {{X\left( {t + 1} \right)} - {X(t)}} \right)^{2} + \left( {{Y\left( {t + 1} \right)} - {Y(t)}} \right)^{2}}}$In certain embodiments, the distance traveled 156 by the particulardairy cow 104 in a time period may be normalized to determine a distancetraveled per hour by dividing the determined distance traveled 156 bythe number of hours in the time period for which the distance traveled156 was determined.

In certain embodiments, the movement parameters 130 for a particulardairy cow 104 may additionally include a turn count 158. The turn count158 may correspond to the number of times during a time period that theparticular dairy cow 104 changes direction between consecutive discretetimes for which a coordinate location is available for the particulardairy cow 104 (e.g., the difference in angular direction of theparticular dairy cow 104 from discrete time to the next changes lessthan 90° or more than 270°). As just one example, in embodiments inwhich the location information for the particular dairy cow 104 includes(X,Y) location for the particular dairy cow 104 at a number of discretetimes (t), the turn count 158 for the particular dairy cow 104 may bedetermined as follows:

Ifangle<90°orangle>270°

then increase turn count by 1

where:

${angle} = {\arccos\left\lbrack \frac{c^{2} - b^{2} - a^{2}}{2{ba}} \right\rbrack}$$a = \sqrt{\left( {{Y\left( {t + 1} \right)} - {Y(t)}} \right)^{2} + \left( {{X\left( {t + 1} \right)} - {X(t)}} \right)^{2}}$$b = \sqrt{\left( {{Y\left( {t + 2} \right)} - {Y\left( {t + 1} \right)}} \right)^{2} + \left( {{X\left( {t + 2} \right)} - {X\left( {t + 1} \right)}} \right)^{2}}$$c = \sqrt{\left( {{Y\left( {t + 2} \right)} - {Y(t)}} \right)^{2} + \left( {{X\left( {t + 2} \right)} - {X(t)}} \right)^{2}}$In certain embodiments, the turn count 158 may be normalized todetermine a number of turns per hour by dividing the determined turncount 158 by the number of hours in the time period for which the turncount 158 was determined.

In certain embodiments, the movement parameters 130 for a particulardairy cow 104 may additionally include a sign change count 160. Like theturn count 158, the sign change count 160 may correspond to the numberof times during a time period that the particular dairy cow 104 changesdirection between consecutive discrete times for which a coordinatelocation is available for the particular dairy cow 104. As just oneexample, in embodiments in which the location information for theparticular dairy cow 104 includes (X,Y) location for the particulardairy cow 104 at a number of discrete times (t), the sign change count160 for the particular dairy cow 104 may be determined as follows:

If[X(t+1)−X(t)]>0 and [X(t+2)−X(t+1)]<0(or vice versa)or[Y(t+1)−Y(t)]>0 and [Y(t+2)−Y(t+1)]<0(or vice versa)

then increase sign change count by 1

In certain embodiments, the sign change count 160 may be normalized todetermine a number of sign changes per hour by dividing the determinedsign change count 160 by the number of hours in the time period forwhich the sign change count 160 was determined.

Estrus detection logic 124 may additionally be operable to determine,based on one or more of the above-described movement parameters 130associated with dairy cows 104 (determined based on coordinate locationsfor the particular dairy cow 104 during a particular time period, asdescribed above), which of the dairy cows 104 are likely to be in estrusat a given time.

For example, estrus detection logic 124 may determine if a particulardairy cow 104 is likely to be in estrus by comparing a “heat index” forthe particular dairy cow 104 (described below) with a baseline heatindex. In certain embodiments, the heat index for a particular dairy cow104 may correspond to the product of an alley walking parameter 138 anda normalized mobility count 154 (e.g., heat index=(alley walkingparameter)×(mobility count/hour)). In such embodiments, the heat indexmay be indicative of the amount of movement of the particular dairy cow104, with a certain amount of increase in movement of the particulardairy cow 104 (e.g., 250% over a baseline, as described below) being anindicator that the particular dairy cow 104 is in estrus.

In certain other embodiments, the heat index for a particular dairy cow104 may correspond to a function of stall standing parameter 134, stalllying parameter 136, alley walking parameter 138, alley lying parameter140, ally standing parameter 142, watering parameter 144, feedingparameter 146, watering count 148, feeding count 150, mounting count152, mobility count 154, distance traveled 156, turn count 158, and/orsign change count 160. As just one example, the heat index may becalculated as follows:

Heat  Index = a^(*)(stall  standing  parameter  134) + b^(*)(stall  lying  parameter  136) + c^(*)(alley  walking  parameter  138) + d^(*)(alley  lying  parameter  140) + e^(*)(ally  standing  parameter  142) + f^(*)(watering  parameter  144) + g^(*)(feeding  parameter  146) + h^(*)(watering  count  148) + i^(*)(feeding  count  150) + j^(*)(mounting  count  152) + k^(*)(mobility  count  154) + l^(*)(distance  traveled  156) + m^(*)(turn  count  158) + n^(*)(sign  change  count  160)

where:

a=−10

b=−10

c=35

d=−10

e=−10

f=0

g=−20

h=10

i=−10

j=20

k=30

l=40

m=20

n=15

In such embodiments, the heat index may be indicative of an increase incertain activity of the particular dairy cow 104 (e.g., walking inwalking lanes 108, pacing, and/or mounting other dairy cows 104), withan increase in such activity being an indicator that the particulardairy cow 104 is in estrus. Although particular constants a-n are listedas being used to calculate the heat index for example purposes, thepresent disclosure contemplates any suitable constants, according toparticular needs.

If the heat index for particular dairy cow 104 is greater than thebaseline heat index by more than a predefined amount (e.g., 250%),estrus detection logic 124 may determine that the particular dairy cow104 is likely to be in estrus (as such an increase may indicate eitherthat (1) the amount of movement of the particular dairy cow 104 hasincreased or (2) the particular dairy cow 104 is spending time in thoseportions of the free stall pen 102 in which a dairy cow 104 likely to bein estrus is likely to be located, such as walking lanes 108). Thebaseline heat index may be (1) a heat index for the particular dairy cow104 during a previous time period (e.g., the previous twenty-fourhours), (2) an average heat index for one or more other dairy cows 104in free stall pen 102 during a previous time period (e.g., the previoustwenty-four hours), (3) a user defined baseline heat index, or (4) anyother suitable baseline heat index, according to particular needs. Incertain embodiments, the baseline heat index may take into account theambient conditions in the free stall pen 102 (e.g., temperature), as themovement of dairy cows 104 within free stall pen 102 may vary based onthose conditions.

As another example, estrus detection logic 124 may compare a distancetraveled 156 by the particular dairy cow 104 (e.g., a distance traveledper hour during a particular time period, as described above) with abaseline distance traveled. If the distance traveled 156 by theparticular dairy cow 104 is greater than the baseline distance traveledby more than a predefined amount (e.g., 250%), estrus detection logic124 may determine that the particular dairy cow 104 is likely to be inestrus (as an increase in movement of the particular dairy cow 104 maybe an indicator that the particular dairy cow 104 is in estrus). Thebaseline distance traveled may be (1) a distance traveled by theparticular dairy cow 104 during a previous time period (e.g., thedistance traveled per hour during the previous twenty-four hours), (2)an average distance traveled by one or more other dairy cows 104 in freestall pen 102 during a previous time period (e.g., the average distancetraveled per hour during the previous twenty-four hours), (3) a userdefined baseline distance traveled, or (4) any other suitable baselinedistance traveled, according to particular needs. In certainembodiments, the baseline distance traveled may take into account theambient conditions in the free stall pen 102 (e.g., temperature), as themovement of dairy cows 104 within free stall pen 102 may vary based onthose conditions.

As yet another example, estrus detection logic 124 may compare a “turnindex” for a particular dairy cow 104 (described below) with a baselineturn index. In certain embodiments, the turn index may correspond to thesum of turn count 158 and sign change count 160 (e.g., turn index=(turncount)+(sign change count)). In such embodiments, the turn index may beindicative of pacing by the particular dairy cow 104, which may be anindicator that the particular dairy cow 104 is in estrus.

If the turn index for particular dairy cow 104 is greater than thebaseline turn index by more than a predefined amount (e.g., 250%),estrus detection logic 124 may determine that the particular dairy cow104 is likely to be in estrus (as such an increase may be indicative ofan increase in pacing by the particular dairy cow 104, which may beindicative of estrus). The baseline turn index may be (1) a turn indexfor the particular dairy cow 104 during a previous time period (e.g.,the previous twenty-four hours), (2) an average turn index for one ormore other dairy cows 104 in free stall pen 102 during a previous timeperiod (e.g., the previous twenty-four hours), (3) a user definedbaseline turn index, or (4) any other suitable baseline turn index,according to particular needs. In certain embodiments, the baseline turnindex may take into account the ambient conditions in the free stall pen102 (e.g., temperature), as the movement of dairy cows 104 within freestall pen 102 may vary based on those conditions.

Having determined that a particular dairy cow 104 is likely to be inestrus, estrus detection logic 124 may be further operable to confirmthat determination. For example, in response to a determination that aparticular dairy cow 104 is likely to be in estrus, estrus detectionlogic 124 may access stored information associated with the particulardairy cow 104 (e.g., stored in memory module 120) to determine if theparticular dairy cow 104 is near the twenty-first day of her cycle. Adetermination that the particular dairy cow 104 is near the twenty-firstday of her cycle may provide further confirmation that the particulardairy cow 104 is likely to be in estrus.

As an additional example, in response to a determination that aparticular dairy cow 104 is likely to be in estrus, estrus detectionlogic 124 may initiate the generation of a signal to be communicated toidentification devices 114, the signal causing identification devices114 to increase the frequency with which the tag of the particular dairycow 104 is read (e.g., from fifteen seconds to five seconds). As aresult, updated location information 128 may be generated by RTL logic122 (including coordinate locations for the particular dairy cow 104 atmore closely spaced intervals). Based on that updated locationinformation 128, one or more of the above-described movement parameters130 may be recalculated, and estrus detection logic 124 may make asubsequent determination regarding whether the particular dairy cow 104is likely to be in estrus (in a manner substantially similar to thatdescribed above) in order to further confirm the original estrusdetermination. In certain embodiments, the frequency with which the tagof the particular dairy cow 104 is read may revert to the defaultfrequency (e.g., fifteen seconds) in response to the expiration of apredetermined period of time (e.g., one hour), in response to userinput, or in response to any other suitable trigger.

As yet another example, in response to a determination that a particulardairy cow 104 is likely to be in estrus, estrus detection logic 124 mayaccess location information 128 for other dairy cows 104 in free stallpen 102 to identify those other dairy cows 104 within a predefineddistance of the particular dairy cow 104. Estrus detection logic 124 maymonitor location information 128 of the identified other dairy cows 104to determine if there are any increases in the (Z) coordinate locationfor the identified other dairy cows 104. An increase in the (Z)coordinate location of another dairy cow 104 located near the particulardairy cow 104 may indicate that the other dairy cow 104 is mounting theparticular dairy cow 104, which may provide further confirmation thatthe particular dairy cow 104 is in estrus.

As yet another example, in response to a determination that a particulardairy cow 104 is in estrus, estrus detection logic 124 may accesslocation information 128 for other dairy cows 104 in free stall pen 102to identify those other dairy cows 104 within a predefined distance ofthe particular dairy cow 104. Estrus detection logic 124 may thenmonitor the location of the identified other dairy cows 104 to determineif any remain within a predefined distance of the particular dairy cow104 for an extended period of time (e.g., one hour). Certain of theidentified other dairy cows 104 remaining near the particular dairy cow104 may indicate the presence of a sexually active group (SAG) (i.e., agroup of dairy cows 104 which are each in estrus). Determining that theparticular dairy cow 104 is a member of a SAG may provide furtherconfirmation that the particular dairy cow 104 is likely to be inestrus.

Having determined that one or more dairy cows 104 are likely to be inestrus (and possibly subsequent to confirming those determinations),estrus detection logic 124 may create exception reports to be stored inassociation with the one or more dairy cows 104 (e.g., in memory module120). Additionally or alternatively, estrus detection logic 124 mayinitiate the communication of reports (e.g., emails) to the farmer foreach of the one or more dairy cows 104 such that the farmer may furthermonitor the one or more dairy cows 104 and/or remove the one or moredairy cows 104 from the free stall pen 102 for breeding. In certainembodiments, a report communicated to a farmer may indicate the relativestrength of the estrus determination.

In certain embodiments, health monitoring logic 126 may be operable toaccess location information 128 associated with each dairy cow 104 infree stall pen 102 and determine, based on at least a portion of thatlocation information, one or more movement parameters 130 associatedwith each dairy cow 104. For example, health monitoring logic 126 maydetermine movement parameters 130 including a percentage of a particulartime period (e.g., one hour) the dairy cows 104 spent in each of anumber of areas of free stall pen 102. For example, health monitoringlogic 126 may determine a stall standing parameter 134, a stall lyingparameter 136, an alley walking parameter 138, an alley lying parameter140, an alley standing parameter 142, a watering parameter 144, afeeding parameter 146, a watering count 148, and/or a feeding count 150in a manner substantially similar to that described above. Thedetermined movement parameters 130 for dairy cows 104 may be stored(e.g., in memory module 120) such that changes in the movementparameters 130 may be assessed over time. Because the movement of adairy cow 104 within free stall pen 102 may be indicative of whether thedairy cow 104 is likely unhealthy, the movement parameters may be usedby health monitoring logic 126 to determine if one or more dairy cows104 are unhealthy (as described below).

Although health monitoring logic 126 and estrus detection logic 124 areeach described as determining common movement parameters for dairy cows104, the present disclosure contemplates those parameters beingcalculated by health monitoring logic 126, estrus detection logic 124,or by any other suitable logic (e.g., RTL logic 122) such that themovement parameters may be shared between health monitoring logic 126and estrus detection logic 124.

Health monitoring logic 126 may additionally be operable to determine,based on one or more of the above-described movement parameters 130associated with dairy cows 104 (determined based coordinate locationsfor the particular dairy cow 104 during a particular time period, asdescribed above), which of the dairy cows 104 are unhealthy at a giventime. For example, health monitoring logic 126 may compare a “healthindex” for a particular dairy cow 104 (described below) with a baselinehealth index. In certain embodiments, the health index for theparticular dairy cow 104 may correspond to a function of a stallstanding parameter 134, a stall lying parameter 136, an alley walkingparameter 138, an alley lying parameter 140, an alley standing parameter142 a watering parameter 144, a feeding parameter 146, a watering count148, and/or a feeding count 150. As just one example, the health indexmay be calculated as follows:

Health  Index = a^(*)(stall  standing  parameter  134) + b^(*)(stall  lying  parameter  136) + c^(*)(alley  walking  parameter  138) + d^(*)(alley  lying  parameter  140) + e^(*)(ally  standing  parameter  142) + f^(*)(watering  parameter  144) + g^(*)(feeding  parameter  146) + h^(*)(watering  count  148) + i^(*)(feeding  count  150) + j^(*)(mounting  count  152) + k^(*)(mobility  count  154) + l^(*)(distance  traveled  156) + m^(*)(turn  count   158) + n^(*)(sign  change  count  160)

where:

a=0

b=0

c=−20

d=20

e=0

f=0

g=−40

h=0

i=0

j=0

k=0

l=−30

m=0

n=0

In such embodiments, the health index may be indicative of an amount oftime the particular dairy cow 104 spent in each of the various portionsof free stall pen 102, with an increase in activity in certain portionsof free stall pen 102 (e.g., an increase in the amount of time spentlying in walking alleys 108) being an indicator that the particulardairy cow 104 is unhealthy. Although particular constants a-n are listedas being used to calculate the health index for example purposes, thepresent disclosure contemplates any suitable constants, according toparticular needs.

If the health index for particular dairy cow 104 is greater than thebaseline health index by more than a predefined amount (e.g., 250%),health monitoring logic 126 may determine that the particular dairy cow104 is likely unhealthy. The baseline health index may be (1) a healthindex for the particular dairy cow 104 during a previous time period(e.g., the previous twenty-four hours), (2) an average health index forone or more other dairy cows 104 in free stall pen 102 during a previoustime period (e.g., the previous twenty-four hours), (3) a user definedbaseline health index, or (4) any other suitable baseline health index,according to particular needs.

Having determined that a particular dairy cow 104 is likely unhealthy,health monitoring logic 126 may be operable to confirm thatdetermination. For example, health monitoring logic 126 may initiate thegeneration of a signal to be communicated to identification devices 114,the signal causing identification devices 114 to increase the frequencywith which the tag of the particular dairy cow 104 is read (e.g., fromfifteen seconds to five seconds). As a result, updated locationinformation 128 may be generated by RTL logic 122 (including coordinatelocations for the particular dairy cow 104 at more closely spacedintervals). Based on that updated location information 128, one or moreof the above-described movement parameters 130 may be recalculated, andhealth monitoring logic 126 may make a subsequent determinationregarding whether the particular dairy cow 104 is likely unhealthy (in amanner substantially similar to that described above) in order tofurther confirm the original unhealthy determination. In certainembodiments, the frequency with which the tag of the particular dairycow 104 is read may revert to the default frequency (e.g., fifteenseconds) in response to the expiration of a predetermined period of time(e.g., one hour), in response to user input, or in response to any othersuitable trigger.

Having determined that one or more dairy cows 104 are unhealthy (andpossibly subsequent to confirming those determinations), healthmonitoring logic 126 may create exception reports to be stored inassociation with the one or more dairy cows 104 (e.g., in memory module120). Additionally or alternatively, health monitoring logic 126 mayinitiate the communication of reports (e.g., emails) to the farmer foreach of the one or more dairy cows 104 such that the farmer may furthermonitor the one or more dairy cows 104 and/or remove the one or moredairy cows 104 from the free stall pen 102 for medical attention. Incertain embodiments, a report communicated to a farmer may indicate therelative strength of the determination that a dairy cow 104 is likelyunhealthy.

Although a particular implementation of system 100 is illustrated andprimarily described, the present disclosure contemplates any suitableimplementation of system 100, according to particular needs.

FIG. 2 illustrates an example method 200 for estrus detection, accordingto certain embodiments of the present disclosure. Although method 200 isdescribed with regard to a particular dairy cow 104, the presentdisclosure contemplates a substantially similar method being performedwith regard to each of the plurality of dairy cows 104 in free stall pen102.

The method begins at step 202. At step 204, controller 116 receivessignals generated by a number of the identification devices 114positioned at various locations in and/or around free stall pen 102.Each signal corresponds to a tag affixed to a particular dairy cow 104located in a free stall pen 102 at one of a number of times during atime period. At step 206, controller 116 processes the received signals(e.g., using RTL logic 122, described above) to determine locationinformation 128 associated with the particular dairy cow 104. Thedetermined location information 128 may include a coordinate location ofthe dairy livestock within the free stall pen 102 at each of the numberof times during the time period (e.g., every fifteen seconds during aone hour time period). For example, each of the received signals mayinclude information about the distance from a correspondingidentification device 114 to the particular dairy cow 104. By processingtogether those signals generated at or near the same time (e.g., usingtriangulation based on the distance information and a known location foreach of the corresponding identification devices 114), controller 116may determine a coordinate location (e.g., an (X,Y) location, an (X,Y,Z)location, or any other suitable coordinate location) of the particulardairy cow 104 within free stall pen 102 at each of the number of timesduring the time period.

At step 208, controller 116 may store the determined locationinformation 128 associated with the particular dairy cow 104 (e.g., inmemory module 120). At step 210, controller 116 may determine one ormore movement parameters 130 associated with the particular dairy cow104 (e.g., using estrus detection logic 124, described above) based onat least a portion of the stored location information 128 associatedwith the particular dairy cow 104. For example, the determined movementparameters 130 may include a stall standing parameter 134, a stall lyingparameter 136, an alley walking parameter 138, and alley lying parameter140, an alley standing parameter 142, a watering parameter 144, afeeding parameter 146, a watering count 148, a feeding count 150, amounting count 152, a mobility count 154, a distance traveled 156, aturn count 158, and/or a sign change count 160 (each of which aredescribed above with respect to FIG. 1)

At step 212, controller 116 may determine whether the particular dairycow 104 is likely to be in estrus (e.g., using estrus detection logic124, described above) based on the one or more movement parameters 130associated with the particular dairy cow 104. For example, controller116 may determine whether the particular dairy cow 104 is likely to bein estrus by comparing a heat index for the particular dairy cow 104with a baseline heat index. If the heat index for particular dairy cow104 is greater than the baseline heat index by more than a predefinedamount (e.g., 250%), controller 116 may determine that the particulardairy cow 104 is likely to be in estrus.

In embodiments in which the heat index corresponds to the product of analley walking parameter 138 and a normalized mobility count 154 (e.g.,heat index=(alley walking parameter)×(mobility count/hour)), an increasein heat index may be indicative of an increase in movement of theparticular dairy cow 104 (which may be an indicator that the particulardairy cow 104 is in estrus). In embodiments in which the heat indexcorresponds to a function of stall standing parameter 134, stall lyingparameter 136, alley walking parameter 138, alley lying parameter 140,ally standing parameter 142, watering parameter 144, feeding parameter146, watering count 148, feeding count 150, mounting count 152, mobilitycount 154, distance traveled 156, turn count 158, and/or sign changecount 160, an increase in certain activity of the particular dairy cow104 (e.g., walking in walking lanes 108, pacing, and/or mounting otherdairy cows 104) may be an indicator that the particular dairy cow 104 isin estrus.

As another example, controller 116 may determine whether the particulardairy cow 104 is likely to be in estrus by comparing a distance traveled156 by the particular dairy cow 104 (e.g., a distance traveled during aparticular time period, as described above) with a baseline distancetraveled. If the distance traveled 156 by the particular dairy cow 104is greater than the baseline distance traveled by more than a predefinedamount (e.g., 250%), estrus detection logic 124 may determine that theparticular dairy cow 104 is likely to be in estrus (as an increase inmovement of the particular dairy cow 104 may be an indicator that theparticular dairy cow 104 is in estrus).

As yet another example, controller 116 may determine whether theparticular dairy cow 104 is likely to be in estrus by comparing a turnindex (e.g., turn index=(turn count/hour)×(sign change count/hour)) fora particular dairy cow 104 with a baseline turn index. If the turn indexfor particular dairy cow 104 is greater than the baseline turn index bymore than a predefined amount (e.g., 250%), controller 116 may determinethat the particular dairy cow 104 is likely to be in estrus (as such anincrease may be indicative of an increase in pacing by the particulardairy cow 104, which may be indicative of estrus).

If controller 116 determines at step 212 that the particular dairy cow104 is likely to be in estrus, the method proceeds to step 214.Otherwise, the method returns to step 204. At step 214, controller 116may confirm the determination that the particular dairy cow 104 islikely to be in estrus. For example, controller 116 may confirm theestrus determination by accessing stored information associated with theparticular dairy cow 104 (e.g., stored in memory module 120) todetermine if the particular dairy cow 104 is near the twenty-first dayof her cycle. As an additional example, controller 116 may initiate thegeneration of a signal to be communicated to identification devices 114,the signal causing identification devices 114 to increase the frequencywith which the tag of the particular dairy cow 104 is read (e.g., fromfifteen seconds to five seconds). As a result, updated locationinformation 128 may be generated, movement parameters 130 may berecalculated based on that updated location information 128, and asubsequent determination regarding whether the particular dairy cow 104is likely to be in estrus may be made (in a manner substantially similarto that described above). As yet another example, controller 116 mayaccess location information for other dairy cows 104 in free stall pen102 to identify those other dairy cows 104 within a predefined distanceof the particular dairy cow 104 in order to determine (1) whether anydairy cow 104 located near the particular dairy cow 104 is mounting theparticular dairy cow 104 and/or (2) whether the particular dairy cow 104is a member of a SAG (each of which is described above with regard toFIG. 1). At step 216, the method ends.

Although the steps of method 200 have been described as being performedin a particular order, the present disclosure contemplates that thesteps of method 200 may be performed in any suitable order, according toparticular needs.

FIG. 3 illustrates an example method 300 for health monitoring,according to certain embodiments of the present disclosure. Althoughmethod 300 is described with regard to a particular dairy cow 104, thepresent disclosure contemplates a substantially similar method beingperformed with regard to each of the plurality of dairy cows 104 in freestall pen 102.

The method begins at step 302. At step 304, controller 116 receivessignals generated by a number of the identification devices 114positioned at various locations in and/or around free stall pen 102. Atstep 306, controller 116 processes the received signals (e.g., using RTLlogic 122, described above) to determine location information 128associated with the particular dairy cow 104. At step 308, controller116 may store the determined location information 128 associated withthe particular dairy cow 104 (e.g., in memory module 120). Steps 304-308may be performed in a substantially similar manner to steps 204-208,described above with regard to FIG. 2.

At step 310, controller 116 may determine one or more movementparameters 130 associated with the particular dairy cow 104 (e.g., usinghealth monitoring logic 126, described above) based on at least aportion of the stored location information 128 associated with theparticular dairy cow 104. For example, the determined movementparameters may include a stall standing parameter 134, a stall lyingparameter 136, an alley walking parameter 138, an alley lying parameter140, an alley standing parameter 142, a watering parameter 144, afeeding parameter 146, a watering count 148, and/or feeding count 150(each of which are described above with respect to FIG. 1).

At step 312, controller 116 may determine whether the particular dairycow 104 is likely unhealthy (e.g., using health monitoring logic 126,described above) based on the one or more movement parameters 130associated with the particular dairy cow 104. For example, controller116 may determine whether the particular dairy cow 104 is likelyunhealthy by comparing a health index for the particular dairy cow 104with a baseline health index. If the health index for particular dairycow 104 is greater than the baseline health index by more than apredefined amount (e.g., 250%), controller 116 may determine that theparticular dairy cow 116 is likely unhealthy. In embodiments in whichthe health index corresponds to a function of a stall standing parameter134, a stall lying parameter 136, an alley walking parameter 138, analley lying parameter 140, an alley standing parameter 142 a wateringparameter 144, a feeding parameter 146, a watering count 148, and/or afeeding count 150, an increase in activity in certain portions of freestall pen 102 (e.g., an increase in the amount of time spent lying inwalking alleys 108) may be an indicator that the particular dairy cow104 is unhealthy.

If controller 116 determines at step 312 that the particular dairy cow104 is likely unhealthy, the method proceeds to step 314. Otherwise, themethod ends at step 316. At step 314, controller 116 may confirm thedetermination that the particular dairy cow 104 is likely unhealthy. Forexample, controller 116 may initiate the generation of a signal to becommunicated to identification devices 114, the signal causingidentification devices 114 to increase the frequency with which the tagof the particular dairy cow 104 is read (e.g., from fifteen seconds tofive seconds). As a result, updated location information 128 may begenerated, movement parameters 130 may be recalculated based on thatupdated location information 128, and a subsequent determinationregarding whether the particular dairy cow 104 is likely unhealthy maybe made (in a manner substantially similar to that described above). Ifthe subsequent determination also indicates that the particular dairycow 104 is likely unhealthy, the initial determination may be confirmed.At step 316, the method ends.

Although the steps of method 300 have been described as being performedin a particular order, the present disclosure contemplates that thesteps of method 300 may be performed in any suitable order, according toparticular needs.

Although the present invention has been described with severalembodiments, diverse changes, substitutions, variations, alterations,and modifications may be suggested to one skilled in the art, and it isintended that the invention encompass all such changes, substitutions,variations, alterations, and modifications as fall within the spirit andscope of the appended claims.

What is claimed is:
 1. A system for estrus detection, comprising: a plurality of identification devices positioned in a free stall pen; one or more tags attachable to each of a plurality of dairy livestock in the free stall pen; one or more memory modules that stores location information obtained from one or more of the plurality of identification devices and the one or more tags, the location information associated with a particular dairy livestock from the plurality of dairy livestock and comprising a plurality of coordinate locations of the particular dairy livestock within the free stall pen at each of a plurality of times during a time period including a first time and a second time, wherein the plurality of coordinate locations comprises at least a first (X, Y, Z) location of the particular dairy livestock at the first time and a second (X, Y, Z) location of the particular dairy livestock at the second time; and one or more processors that: determine, based on at least the first and second (X, Y, Z) locations, a turn index parameter indicating a number of times the particular dairy livestock reverses directions during the time period; and determine whether the particular dairy livestock is likely to be in estrus based at least in part upon whether the determined turn index parameter is in excess of a baseline turn index parameter by more than a first predefined amount.
 2. The system of claim 1, wherein the location information is generated by a real-time location system (RTLS) comprising the plurality of identification devices positioned in the free stall pen, the plurality of identification devices each operable to, at each of the plurality of times during the time period, generate a signal corresponding to the tag affixed to the particular dairy livestock.
 3. The system of claim 2, wherein communication between the plurality of identification devices and the tag affixed to the particular dairy livestock is facilitated by ultra-wide band (UWB) technology.
 4. The system of claim 2, wherein the RTLS is operable to determine the first (X,Y,Z) location of the particular dairy livestock within the free stall pen by triangulating the signals generated by at least three of the plurality of identification devices.
 5. The system of claim 1, wherein: determining a distance traveled parameter corresponding to a distance traveled by the particular dairy livestock during the time period; and determining whether the particular dairy livestock is likely to be in estrus comprises determining whether the determined distance traveled parameter is in excess of a baseline distance traveled by more than a second predefined amount.
 6. The system of claim 5, wherein the baseline distance traveled corresponds to an average distance traveled for a plurality of other dairy livestock in the free stall pen during a previous time period.
 7. The system of claim 5, wherein the baseline distance traveled corresponds to a distance traveled by the particular dairy livestock during a previous time period.
 8. The system of claim 1, wherein the one or more processors further determine, in response to determining that the particular dairy livestock is likely to be in estrus, whether the particular dairy livestock is a member of a sexually-active group.
 9. The system of claim 8, wherein determining whether the particular dairy livestock is a member of a sexually-active group comprises: accessing coordinate locations for each of a plurality of other dairy livestock in the free stall; identifying one or more of the plurality of other dairy livestock that are within a predefined distance of the particular dairy livestock by comparing the coordinate locations for each of the plurality of other dairy livestock with a coordinate location of the particular dairy livestock; and tracking the coordinate locations of the particular dairy livestock and the identified one or more of the plurality of other dairy livestock to determine if the identified one or more of the plurality of other dairy livestock remain within the predefined distance of the particular dairy livestock.
 10. A system for estrus detection, comprising: a plurality of identification devices positioned in a free stall pen; one or more tags attachable to each of a plurality of dairy livestock in the free stall pen; one or more memory modules that stores location information obtained from one or more of the plurality of identification devices and the one or more tags, the location information associated with a particular dairy livestock from the plurality of dairy livestock and comprising a plurality of coordinate locations of the particular dairy livestock within the free stall pen at each of a plurality of times during a time period including a first time and a second time, wherein the plurality of coordinate locations comprises at least a first (X, Y, Z) location of the particular dairy livestock at the first time and a second (X, Y, Z) location of the particular dairy livestock at the second time; and one or more processors that: determine an alley walking parameter indicating a percentage of the time period that the particular dairy livestock was walking in a walking alley of the free stall pen; and determine a mobility count parameter indicating a number of times during the time period that the particular dairy livestock moved greater than a predefined distance during a time interval within the time period; and determine whether the particular dairy livestock is likely to be in estrus based at least in part upon whether a heat index for the particular dairy livestock is in excess of a baseline heat index by more than a predefined amount, the heat index for the particular dairy livestock corresponding to a multiplication product of the alley walking parameter and the mobility count parameter.
 11. The system of claim 10, wherein the baseline heat index comprises an average heat index for a plurality of other dairy livestock in the free stall pen during a previous time period.
 12. The system of claim 10, wherein the baseline heat index comprises a heat index for the particular dairy livestock during a previous time period.
 13. The system of claim 10, wherein the baseline turn index parameter corresponds to an average number of times each of a plurality of other dairy livestock in the free stall pen reversed directions during a previous time period.
 14. The system of claim 10, wherein the baseline turn index parameter corresponds to a number of times the particular dairy livestock reversed directions during a previous time period.
 15. A system for estrus detection, comprising: a plurality of identification devices positioned in a free stall pen; one or more tags attachable to each of a plurality of dairy livestock in the free stall pen; one or more memory modules that stores location information obtained from one or more of the plurality of identification devices and the one or more tags, the location information associated with a particular dairy livestock from the plurality of dairy livestock and comprising a plurality of coordinate locations of the particular dairy livestock within the free stall pen at each of a plurality of times during a time period including a first time and a second time, wherein the plurality of coordinate locations comprises at least a first (X, Y, Z) location of the particular dairy livestock at the first time and a second (X, Y, Z) location of the particular dairy livestock at the second time; and one or more processors that: determine a stall standing parameter indicating a percentage of the time period that the particular dairy livestock was standing in a stall of the free stall pen; determine a stall lying parameter indicating a percentage of the time period that the particular dairy livestock was lying in the stall of the free stall pen; determine an alley walking parameter indicating a percentage of the time period that the particular dairy livestock was walking in a walking alley of the free stall pen; determine an alley lying parameter indicating a percentage of the time period that the particular dairy livestock was lying in the walking alley of the free stall pen; determine an alley standing parameter indicating a percentage of the time period that the particular dairy livestock was standing stationary in the walking alley of the free stall pen; determine a feeding parameter indicating a percentage of the time period that the particular dairy livestock was located within a predefined distance of a feed lane of the free stall pen; and determine a watering parameter indicating a percentage of the time period that the particular dairy livestock was located within a predefined distance of a water trough of the free stall pen; and determine whether the particular dairy livestock is likely to be in estrus based at least in part upon whether a heat index for the particular dairy livestock is in excess of a baseline heat index by more than a predefined amount, the heat index for the particular dairy livestock being a function of the stall standing parameter, the stall lying parameter, the alley walking parameter, the alley lying parameter, the alley standing parameter, the feeding parameter, and the watering parameter.
 16. The system of claim 15, wherein the baseline heat index comprises an average heat index for a plurality of other dairy livestock in the free stall during a previous time period.
 17. The system of claim 15, wherein the baseline heat index comprises a heat index for the particular dairy livestock during a previous time period. 